Parameterizable quaternion data structure. More...

#include <mitsuba/core/quat.h>

Public Types
enum	EEulerAngleConvention { EEulerXYZ = 0, EEulerXZY, EEulerYXZ, EEulerYZX, EEulerZXY, EEulerZYX }
	Used by TQuaternion::fromEulerAngles. More...

typedef T	Scalar

Public Member Functions
	TQuaternion ()
	Create a unit quaternion. More...

	TQuaternion (const TVector3< T > &v, T w)

	TQuaternion (Stream *stream)
	Unserialize a quaternion from a binary data stream. More...

TQuaternion	operator+ (const TQuaternion &q) const
	Add two quaternions and return the result. More...

TQuaternion	operator- (const TQuaternion &q) const
	Subtract two quaternions and return the result. More...

TQuaternion &	operator+= (const TQuaternion &q)
	Add another quaternions to the current one. More...

TQuaternion &	operator-= (const TQuaternion &q)
	Subtract a quaternion. More...

TQuaternion	operator- () const
	Unary negation operator. More...

TQuaternion	operator* (T f) const
	Multiply the quaternion by the given scalar and return the result. More...

TQuaternion &	operator*= (T f)
	Multiply the quaternion by the given scalar. More...

TQuaternion	operator/ (T f) const
	Divide the quaternion by the given scalar and return the result. More...

TQuaternion &	operator/= (T f)
	Divide the quaternion by the given scalar. More...

TQuaternion &	operator*= (const TQuaternion &q)
	Quaternion multiplication. More...

TQuaternion	operator* (const TQuaternion &q) const
	Quaternion multiplication (creates a temporary) More...

bool	operator== (const TQuaternion &q) const
	Equality test. More...

bool	operator!= (const TQuaternion &q) const
	Inequality test. More...

bool	isIdentity () const
	Identity test. More...

TVector3< T >	axis () const
	Return the rotation axis of this quaternion. More...

Scalar	angle () const
	Return the rotation angle of this quaternion (in radians) More...

TQuaternion	exp () const
	Compute the exponential of a quaternion with scalar part w = 0. More...

TQuaternion	log () const
	Compute the natural logarithm of a unit quaternion. More...

Transform	toTransform () const
	Compute the rotation matrix for the given quaternion. More...

void	serialize (Stream *stream) const
	Serialize this quaternion to a binary data stream. More...

std::string	toString () const
	Return a readable string representation of this quaternion. More...

Static Public Member Functions
static TQuaternion	fromAxisAngle (const Vector &axis, Float angle)
	Construct an unit quaternion, which represents a rotation around axis by angle radians. More...

static TQuaternion	fromDirectionPair (const Vector &from, const Vector &to)
	Construct an unit quaternion, which rotates unit direction from onto to. More...

static TQuaternion	fromTransform (const Transform &trafo)

static TQuaternion	fromMatrix (const Matrix4x4 &m)
	Construct an unit quaternion matching the supplied rotation matrix. More...

static TQuaternion	fromEulerAngles (EEulerAngleConvention conv, Float x, Float y, Float z)
	Construct an unit quaternion matching the supplied rotation expressed in Euler angles (in radians) More...

Public Attributes
TVector3< T >	v
	Imaginary component. More...

T	w
	Real component. More...

Detailed Description

template<typename T>
struct mitsuba::TQuaternion< T >

Parameterizable quaternion data structure.

Member Typedef Documentation

template<typename T>

typedef T mitsuba::TQuaternion< T >::Scalar

Member Enumeration Documentation

template<typename T>

enum mitsuba::TQuaternion::EEulerAngleConvention

Used by TQuaternion::fromEulerAngles.

Enumerator
EEulerXYZ
EEulerXZY
EEulerYXZ
EEulerYZX
EEulerZXY
EEulerZYX

Constructor & Destructor Documentation

template<typename T>

mitsuba::TQuaternion< T >::TQuaternion ( )

inline

Create a unit quaternion.

template<typename T>

mitsuba::TQuaternion< T >::TQuaternion	(	const TVector3< T > &	v,
		T	w
	)

inline

Initialize the quaternion with the specified real and imaginary components

template<typename T>

mitsuba::TQuaternion< T >::TQuaternion ( Stream * stream )

inlineexplicit

Unserialize a quaternion from a binary data stream.

Member Function Documentation

template<typename T>

Scalar mitsuba::TQuaternion< T >::angle ( ) const

inline

Return the rotation angle of this quaternion (in radians)

template<typename T>

TVector3<T> mitsuba::TQuaternion< T >::axis ( ) const

inline

Return the rotation axis of this quaternion.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::exp ( ) const

inline

Compute the exponential of a quaternion with scalar part w = 0.

Based on code the appendix of "Quaternion Calculus for Computer Graphics" by Ken Shoemake

template<typename T>

static TQuaternion mitsuba::TQuaternion< T >::fromAxisAngle	(	const Vector &	axis,
		Float	angle
	)

inlinestatic

Construct an unit quaternion, which represents a rotation around axis by angle radians.

template<typename T>

static TQuaternion mitsuba::TQuaternion< T >::fromDirectionPair	(	const Vector &	from,
		const Vector &	to
	)

inlinestatic

Construct an unit quaternion, which rotates unit direction from onto to.

template<typename T>

static TQuaternion mitsuba::TQuaternion< T >::fromEulerAngles	(	EEulerAngleConvention	conv,
		Float	x,
		Float	y,
		Float	z
	)

inlinestatic

Construct an unit quaternion matching the supplied rotation expressed in Euler angles (in radians)

template<typename T>

static TQuaternion mitsuba::TQuaternion< T >::fromMatrix ( const Matrix4x4 & m )

inlinestatic

Construct an unit quaternion matching the supplied rotation matrix.

template<typename T>

static TQuaternion mitsuba::TQuaternion< T >::fromTransform ( const Transform & trafo )

inlinestatic

template<typename T>

bool mitsuba::TQuaternion< T >::isIdentity ( ) const

inline

Identity test.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::log ( ) const

inline

Compute the natural logarithm of a unit quaternion.

Based on code the appendix of "Quaternion Calculus for Computer Graphics" by Ken Shoemake

template<typename T>

bool mitsuba::TQuaternion< T >::operator!= ( const TQuaternion< T > & q ) const

inline

Inequality test.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::operator* ( T f ) const

inline

Multiply the quaternion by the given scalar and return the result.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::operator* ( const TQuaternion< T > & q ) const

inline

Quaternion multiplication (creates a temporary)

template<typename T>

TQuaternion& mitsuba::TQuaternion< T >::operator*= ( T f )

inline

Multiply the quaternion by the given scalar.

template<typename T>

TQuaternion& mitsuba::TQuaternion< T >::operator*= ( const TQuaternion< T > & q )

inline

Quaternion multiplication.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::operator+ ( const TQuaternion< T > & q ) const

inline

Add two quaternions and return the result.

template<typename T>

TQuaternion& mitsuba::TQuaternion< T >::operator+= ( const TQuaternion< T > & q )

inline

Add another quaternions to the current one.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::operator- ( const TQuaternion< T > & q ) const

inline

Subtract two quaternions and return the result.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::operator- ( ) const

inline

Unary negation operator.

template<typename T>

TQuaternion& mitsuba::TQuaternion< T >::operator-= ( const TQuaternion< T > & q )

inline

Subtract a quaternion.

template<typename T>

TQuaternion mitsuba::TQuaternion< T >::operator/ ( T f ) const

inline

Divide the quaternion by the given scalar and return the result.

template<typename T>

TQuaternion& mitsuba::TQuaternion< T >::operator/= ( T f )

inline

Divide the quaternion by the given scalar.

template<typename T>

bool mitsuba::TQuaternion< T >::operator== ( const TQuaternion< T > & q ) const

inline

Equality test.

template<typename T>

void mitsuba::TQuaternion< T >::serialize ( Stream * stream ) const

inline

Serialize this quaternion to a binary data stream.

template<typename T>

std::string mitsuba::TQuaternion< T >::toString ( ) const

inline

Return a readable string representation of this quaternion.

template<typename T>

Transform mitsuba::TQuaternion< T >::toTransform ( ) const

inline

Compute the rotation matrix for the given quaternion.

Implementation from PBRT

Member Data Documentation

template<typename T>

TVector3<T> mitsuba::TQuaternion< T >::v

Imaginary component.

template<typename T>

T mitsuba::TQuaternion< T >::w

Real component.

The documentation for this struct was generated from the following file:

include/mitsuba/core/quat.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

template<typename T> struct mitsuba::TQuaternion< T >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
struct mitsuba::TQuaternion< T >